Ｂｏｕｎｄｅｄ　Ｆｏｒｃｅ　Ｃｌｏｓｕｒｅに基づく変形しやすい物体の把持に関する静力学的解析

• 若松 栄史

• 平井 慎一

• 岩田 一明

書誌事項

タイトル別名

• Static Analysis of Deformable Object Grasping Based on Bounded Force Closure.
• Bounded Force Closure ニ モトズク ヘンケイシヤスイ ブ

抄録

A static analysis of deformable object grasping based on bounded force closure is presented. First, we introduce a new concept of bounded force closure, which is an extension of force closure condition. Secondly, we investigate the necessary conditions for the bounded force closure in order to derive the properties of bounded force closure grasping. Thirdly, the deformation of rod-like objects is formulated. Then, we propose a procedure to evaluate the stability of deformable object grasping. Finally, some numerical examples are shown in order to demonstrate the effectiveness of our proposed method.

収録刊行物

• 日本機械学会論文集Ｃ編

  日本機械学会論文集Ｃ編 64 (618), 508-515, 1998

  一般社団法人 日本機械学会

キーワード

• Modelling
• Computer-Aided Analysis
• Operation Planning
• Grasping
• Deformable Objects
• Statics
• Force Closure
• Stability

詳細情報

• CRID: 1390001206328823040
• NII論文ID: 130004232602
• NII論文ID: 110002383569
• NII書誌ID: AN00187463
• DOI: 10.1299/kikaic.64.508
• ISSN: 18848354
• ISSN: 03875024
• NDL書誌ID: 4413097
• Web Site: https://ndlsearch.ndl.go.jp/books/R000000004-I4413097
• Web Site: http://www.jstage.jst.go.jp/article/kikaic1979/64/618/64_618_508/_pdf
• 本文言語コード: ja
• データソース種別:
  • JaLC
  • NDL
  • Crossref
  • CiNii Articles
• 抄録ライセンスフラグ: 使用不可